@article{Taniguchi2016SpatialCA,
  title={Spatial Concept Acquisition for a Mobile Robot That Integrates Self-Localization and Unsupervised Word Discovery From Spoken Sentences},
  author={Akira Taniguchi and Tadahiro Taniguchi and Tetsunari Inamura},
  journal={IEEE Transactions on Cognitive and Developmental Systems},
  year={2016},
  volume={8},
  pages={285-297}
}